Coordinate Control
It is mainly used to make intelligent route planning to move the robot arms from one position to another specified position. The coordinate is [x, y, z, rx, ry, rz]
. [x,y,z]
represents the position of the robot arm head in space (the coordinate system is cartesian coordinate system). [rx,ry,rz]
represents the posture of such head at this point (the coordinate system is euler coordinates). The above simple explaination helps you to use functions better.
Note: When setting the coordinates, different series of manipulators have different joint structures. For the same set of coordinates, different series of manipulators will show different postures.
mechArm 270
Single-Parameter Coordinate
send_coord(id,coord,speed)
- Function: to send a single coordinate value to the robot arm to make it move.
- Parameter:
id
: 1-6 represents the coordinates of the robotic arm. For example, you can fill in 1 for X-axis, 2 for Y-axis, and so on.coord
: Input the coordinate value you want.speed
: means the movement speed of the robot arm, ranging from 0 to 100.
- Return Value: 1
Multiple parameter coordinates
get_coords()
- Function: to obtain the current coordinate and posture.
- Return Value:
list
: a list containing coordinates and postures.- Six axes: The length is 6, and they are
[x, y, z, rx, ry, rz]
in order.
- Six axes: The length is 6, and they are
send_coords(coords, speed, mode)
- Function: to send the overall coordinates and postures to move the robot arm head from the original point to the point you have specified.
- Parameters:
coords
:- Six axes: The length of the coordinate value of
[x, y, z, rx, ry, rz]
is 6. - Four axes: The length of the coordinate value of
[x,y,z,rx]
is 4.
- Six axes: The length of the coordinate value of
speed
: means the movement speed of the robot arm, ranging from 0 to 100.mode
: (int
): The value is limited to 0 and 1.- 0 means that the movement path of the robot arm head is non-linear, i.e. the movement route is randomly planned just to make sure that the head moves to a specified point with a specified posture.
- 1 means that the movement path of the robot arm head is linear, i.e. the movement route is intelligently planned just to make sure that the head moves to a specified point with a specified posture in a linear manner.
- Return Value: None
set_tool_reference(coords)
- Function: Set Tool coordinate system。
- Parameters:
coords
: The coordinate value of [x, y, z, rx, ry, rz] has a length of 6, x, y, z ranging from - 280 to 280, and rx, ry, yz ranging from - 314 to 314
- Return Value: None
get_tool_reference()
- Function: Get Tool coordinate system。
- Return Value: Returns a coordinate list with a length of 6
get_world_reference()
- Function: Get World coordinate system。
- Return Value: Returns a coordinate list with a length of 6
set_world_reference(coords)
- Function: Set World coordinate system。
- Parameters:
coords
: The coordinate value of [x, y, z, rx, ry, rz] has a length of 6, x, y, z ranging from - 280 to 280, and rx, ry, yz ranging from - 314 to 314
- Return Value: None
set_reference_frame(rftype)
- Function: Set Base coordinate system。
- Parameters:
rftype
: 0 - Base coordinate system(default),1 - World coordinate system
- Return Value: None
get_reference_frame()
- Function: Get Base coordinate system。
- Return Value: 0 - Base coordinate system,1 - World coordinate system,-1 - error
set_end_type(end)
- Function: Set end coordinate system。
- Parameters:
end
: 0 - flange(default),1 - tool
- Return Value: None
get_end_type()
- Function: Get end coordinate system
- Return Value: 0 - flange(default),1 - tool, -1 - error
Simple Demo
from pymycobot.mecharm270 import MechArm270
import time
# MechArm270 class initialization requires two parameters:
# The first is the serial port string, such as:
# linux: "/dev/ttyUSB0"
# or "/dev/ttyACM0"
# windows: "COM3"
# The second is the baud rate::
# M5 version is: 115200
#
# Example:
# MechArm270-M5:
# linux:
# mc = MechArm270("/dev/ttyUSB0", 115200)
# or mc = MechArm270("/dev/ttyACM0", 115200)
# windows:
# mc = MechArm270("COM3", 115200)
# MechArm270-raspi:
# mc = MechArm270("/dev/ttyAMA0", 1000000)
#
# Initialize a MechArm270 object
# Create object code here for windows version
mc = MechArm270("COM3", 115200)
# PI version
# mc = MechArm270("/dev/ttyAMA0", 1000000)
# Get the current coordinates and pose of the head
coords = mc.get_coords()
print(coords)
# Intelligently plan the route, let the head reach the coordinates of [152, -9.5, 220.8] in a linear manner, and maintain the attitude of [143.29, 2, 88], the speed is 80mm/s
mc.send_coords([152, -9.5, 220.8, 143.29, 2, 88], 80)
# Set the wait time to 1.5 seconds
time.sleep(1.5)
# Intelligently plan the route, let the head reach the coordinates of [124, -9.5, 232] in a linear way, and maintain the attitude of [ 143.29, 2, 88], the speed is 80mm/s
mc.send_coords([124, -9.5, 232, 143.29, 2, 88], 80)
# Set the wait time to 1.5 seconds
time.sleep(1.5)
# To change only the x-coordinate of the head, set the x-coordinate of the head to -40. Let it plan the route intelligently and move the head to the changed position, with a speed of 70mm/s
mc.send_coord(1, -40, 70)
myCobot
Single-Parameter Coordinate
send_coord(id,coord,speed)
- Function: to send a single coordinate value to the robot arm to make it move.
- Parameter:
id
: represents the coordinates of the robotic arm. Six axis means that the robot arm has six joints, and four-axis means it has four joints. and there are specific representation methods therefor. The way to represent X coordinate:Coord.X.value
. There is also a simple representation method. For example, you can fill in 1 for X-axis, 2 for Y-axis, and so on.coord
: Input the coordinate value you want.speed
: means the movement speed of the robot arm, ranging from 0 to 100.
- Return Value: None
Multiple parameter coordinates
get_coords()
- Function: to obtain the current coordinate and posture.
- Return Value:
list
: a list containing coordinates and postures.- Six axes: The length is 6, and they are
[x, y, z, rx, ry, rz]
in order. - Four axes: The length is 6, and they are
[x, y, z, rx]
in order.
- Six axes: The length is 6, and they are
send_coords(coords, speed, mode)
- Function: to send the overall coordinates and postures to move the robot arm head from the original point to the point you have specified.
- Parameters:
coords
:- Six axes: The length of the coordinate value of
[x, y, z, rx, ry, rz]
is 6. - Four axes: The length of the coordinate value of
[x,y,z,rx]
is 4.
- Six axes: The length of the coordinate value of
speed
: means the movement speed of the robot arm, ranging from 0 to 100.mode
: (int
): The value is limited to 0 and 1.- 0 means that the movement path of the robot arm head is non-linear, i.e. the movement route is randomly planned just to make sure that the head moves to a specified point with a specified posture.
- 1 means that the movement path of the robot arm head is linear, i.e. the movement route is intelligently planned just to make sure that the head moves to a specified point with a specified posture in a linear manner.
- Return Value: None
set_tool_reference(coords)
- Function: Set Tool coordinate system。
- Parameters:
coords
: The coordinate value of [x, y, z, rx, ry, rz] has a length of 6, x, y, z ranging from - 280 to 280, and rx, ry, yz ranging from - 314 to 314
- Return Value: None
get_tool_reference()
- Function: Get Tool coordinate system。
- Return Value: Returns a coordinate list with a length of 6
get_world_reference()
- Function: Get World coordinate system。
- Return Value: Returns a coordinate list with a length of 6
set_world_reference(coords)
- Function: Set World coordinate system。
- Parameters:
coords
: The coordinate value of [x, y, z, rx, ry, rz] has a length of 6, x, y, z ranging from - 280 to 280, and rx, ry, yz ranging from - 314 to 314
- Return Value: None
set_reference_frame(rftype)
- Function: Set Base coordinate system。
- Parameters:
rftype
: 0 - Base coordinate system(default),1 - World coordinate system
- Return Value: None
get_reference_frame()
- Function: Get Base coordinate system。
- Return Value: 0 - Base coordinate system,1 - World coordinate system,-1 - error
set_end_type(end)
- Function: Set end coordinate system。
- Parameters:
end
: 0 - flange(default),1 - tool
- Return Value: None
get_end_type()
- Function: Get end coordinate system
- Return Value: 0 - flange(default),1 - tool, -1 - error
Simple Demo
from pymycobot.mycobot import MyCobot
from pymycobot.genre import Coord
from pymycobot import PI_PORT, PI_BAUD # When using the Raspberry Pi version of mycobot, you can refer to these two variables to initialize MyCobot
import time
# MyCobot class initialization requires two parameters:
# The first is the serial port string, such as:
# linux: "/dev/ttyAMA0"
# or "/dev/ttyAMA0"
# windows: "COM3"
# The second is the baud rate::
# M5 version is: 115200
#
# Example:
# mycobot-M5:
# linux:
# mc = MyCobot("/dev/ttyAMA0", 1000000)
# or mc = MyCobot("/dev/ttyAMA0", 115200)
# windows:
# mc = MyCobot("COM3", 115200)
# mycobot-raspi:
# mc = MyCobot(PI_PORT, PI_BAUD)
#
# Initialize a MyCobot object
# Create object code here for windows version
mc = MyCobot("COM3", 115200)
# Get the current coordinates and pose of the head
coords = mc.get_coords()
print(coords)
# Intelligently plan the route, let the head reach the coordinates of [57.0, -107.4, 316.3] in a linear manner, and maintain the attitude of [-93.81, -12.71, -163.49], the speed is 80mm/s
mc.send_coords([57.0, -107.4, 316.3, -93.81, -12.71, -163.49], 80, 1)
# Set the wait time to 1.5 seconds
time.sleep(1.5)
# Intelligently plan the route, let the head reach the coordinates of [-13.7, -107.5, 223.9] in a linear way, and maintain the attitude of [165.52, -75.41, -73.52], the speed is 80mm/s
mc.send_coords([-13.7, -107.5, 223.9, 165.52, -75.41, -73.52], 80, 1)
# Set the wait time to 1.5 seconds
time.sleep(1.5)
# To change only the x-coordinate of the head, set the x-coordinate of the head to -40. Let it plan the route intelligently and move the head to the changed position, with a speed of 70mm/s
mc.send_coord(Coord.X.value, -40, 70)
myBuddy
One-parameter coordinates
send_coord(id, coord, data, speed)
Function Send a single coordinate to the robotic arm
Parameters
id – 1/2/3 (L/R/W).
coord – 1 ~ 6 (x/y/z/rx/ry/rz)
data – Coordinate value
speed – 0 ~ 100
get_coord(id, joint_id)
Function Read a single coordinate parameter
Parameters
id (int) – 1/2/3 (L/R/W).
joint_id (int) – 1 - 7 (7 is gripper)
Multiparameter Coordinates
send_coords(id, coords, speed, mode)
Function Send all coords to robot arm.
Parameters
id – 1/2 (L/R).
coords – a list of coords value(List[float]), length 6, [x(mm), y, z, rx(angle), ry, rz]
speed – (int) 0 ~ 100
mode – (int) 0 - moveJ, 1 - moveL, 2 - moveC
Simple Demo
from pymycobot.mybuddy import MyBuddy
import time
mc = MyBuddy("/dev/ttyACM0", 115200)
# Get the coordinates and posture of the current head of the left arm
coords = mc.get_coords(1)
print(coords)
# Intelligently plan the route, let the head reach the coordinates of [57.0, -107.4, 316.3] in a linear manner, and maintain the attitude of [-93.81, -12.71, -163.49], and the speed is 80mm/s
mc.send_coords(1, [57.0, -107.4, 316.3, -93.81, -12.71, -163.49], 80, 1)
time.sleep(1.5)
# Intelligently plan the route, let the head reach the coordinates of [-13.7, -107.5, 223.9] in a linear manner, and maintain the attitude of [165.52, -75.41, -73.52], with a speed of 80mm/s
mc.send_coords(1, [-13.7, -107.5, 223.9, 165.52, -75.41, -73.52], 80, 1)
time.sleep(1.5)
# To change only the x-coordinate of the head of the left arm, set the x-coordinate of the head to -40. Let it plan the route intelligently and move the head to the changed position, with a speed of 70mm/s
mc.send_coord(1, 1, -40, 70)
myPalletizer 260
Simple Demo
from pymycobot.mypalletizer import MyPalletizer260
import time
# import the project package
# Initiate a MyPalletizer260 object, M5 version
mc = MyPalletizer260("COM3", 115200)
# PI version
# mc = MyPalletizer260("/dev/ttyAMA0", 1000000)
# # Get the current coordinates and pose of the head
coords = mc.get_coords()
print(coords)
#Plan the route at random, let the head reach the coordinates of [57.0, -107.4, 316.3] in an non-linear manner at the speed is 80mm/s
mc.send_coords([187.8, 42.1, 183.3, -159.6], 80, 0)
# wait for 2 seconds
time.sleep(2)
# Plan the route at random, let the head reach the coordinates of [207.9, 47, 49.3,-159.69] in an non-linear manner at the speed is 80mm/s
mc.send_coords([207.9, 47, 49.3,-159.69], 80, 0)
# wait for 2 seconds
time.sleep(2)
#To change only the x-coordinate of the head, set the x-coordinate of the head to 20. Let it plan the route at random and move the head to the changed position at a speed of 70mm/s
mc.send_coord(1, 20, 50)
myArm
Simple Demo
#from pymycobot.myarm import MyArm
#from pymycobot.genre import Coord
#import time
# Initialize a MyArm object
# Create object code here for windows version
mc = MyArm("/dev/ttyAMA0", 115200)
# Get the current coordinates and pose of the head
coords = mc.get_coords()
print(coords)
# Intelligently plan the route, let the head reach the coordinates of [57.0, -107.4, 316.3, -93.81, -12.71, -163.49] in a linear manner, and maintain the attitude of [-93.81, -12.71, -163.49], the speed is 80mm/s
mc.send_coords([57.0, -107.4, 316.3, -93.81, -12.71, -163.49], 80,0)
# Set the wait time to 1.5 seconds
time.sleep(1.5)
# Intelligently plan the route, let the head reach the coordinates of [-13.7, -107.5, 223.9, 165.52, -75.41, -73.52] in a linear way, and maintain the attitude of [165.52, -75.41, -73.52], the speed is 80mm/s
mc.send_coords([-13.7, -107.5, 223.9, 165.52, -75.41, -73.52], 80, 0)
# Set the wait time to 1.5 seconds
time.sleep(1.5)
# To change only the x-coordinate of the head, set the x-coordinate of the head to 20. Let it plan the route intelligently and move the head to the changed position, with a speed of 70mm/s
mc.send_coord(Coord.X.value, 20, 70)